30 lines
656 B
C
30 lines
656 B
C
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//
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// Created by darshan on 3/11/25.
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//
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#ifndef STATE_H
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#define STATE_H
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#include <gtsam/geometry/Rot3.h>
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#include <gtsam/base/Vector.h>
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#include <vector>
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using namespace gtsam;
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/**
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* State class representing the state of the Biased Attitude System
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*/
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class State {
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public:
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Rot3 R; // Attitude rotation matrix R
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Vector3 b; // Gyroscope bias b
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std::vector<Rot3> S; // Sensor calibrations S
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State(const Rot3& R = Rot3::Identity(),
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const Vector3& b = Vector3::Zero(),
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const std::vector<Rot3>& S = std::vector<Rot3>());
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static State identity(int n);
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};
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#endif //STATE_H
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